ROS 2 section [9292] (#194)

* Refs #9273: added ROS2 section

Signed-off-by: jparisu <javierparis@eprosima.com>

* Refs #9273: Some changes from revisions

Signed-off-by: jparisu <javierparis@eprosima.com>

* Refs #9273: Applying changes firsts steps

Signed-off-by: jparisu <javierparis@eprosima.com>

* Refs #9273: Minor changes

Signed-off-by: imontesino <monte.igna@gmail.com>

* Refs #9273: added help to tool

Signed-off-by: imontesino <monte.igna@gmail.com>

* Refs #9273: Changed Server-Client to Discovery Service

Signed-off-by: imontesino <monte.igna@gmail.com>

* Refs #9273: Fix misspelling

Signed-off-by: imontesino <monte.igna@gmail.com>

* Refs #9273: apply all changes

Signed-off-by: jparisu <javierparis@eprosima.com>

* Refs #9237: first changes apply

Signed-off-by: jparisu <javierparis@eprosima.com>

* Refs #9273: apply changes from review

Signed-off-by: jparisu <javierparis@eprosima.com>

* Refs #9237: fixing XML

Signed-off-by: jparisu <javierparis@eprosima.com>

Co-authored-by: imontesino <monte.igna@gmail.com>

code/XMLTester.xml

@@ -312,7 +312,7 @@
             </partition>
         </qos>
     </publisher>
-    
+
     <publisher profile_name="pub_12">
         <topic>
             <name>TopicName</name>
@@ -326,14 +326,14 @@
             </partition>
         </qos>
     </publisher>
-    
+
     <publisher profile_name="pub_21">
         <topic>
             <name>TopicName</name>
             <dataType>TopicDataTypeName</dataType>
         </topic>
     </publisher>
-    
+
     <publisher profile_name="pub_22">
         <topic>
             <name>TopicName</name>
@@ -347,7 +347,7 @@
             </partition>
         </qos>
     </publisher>
-    
+
     <subscriber profile_name="subs_31">
         <topic>
             <name>TopicName</name>
@@ -361,7 +361,7 @@
             </partition>
         </qos>
     </subscriber>
-    
+
     <subscriber profile_name="subs_32">
         <topic>
             <name>TopicName</name>
@@ -375,7 +375,7 @@
             </partition>
         </qos>
     </subscriber>
-    
+
     <subscriber profile_name="subs_33">
         <topic>
             <name>TopicName</name>
@@ -389,7 +389,7 @@
             </partition>
         </qos>
     </subscriber>
-    
+
     <subscriber profile_name="subs_34">
         <topic>
             <name>TopicName</name>
@@ -1861,14 +1861,14 @@
                     <maximum>3</maximum>
                     <increment>0</increment>
                 </total_participants>
-    
+
                 <!-- Limit to 3 readers per participant -->
                 <total_readers>
                     <initial>3</initial>
                     <maximum>3</maximum>
                     <increment>0</increment>
                 </total_readers>
-    
+
                 <!-- Limit to 1 writer per participant -->
                 <total_writers>
                     <initial>1</initial>
@@ -1958,7 +1958,7 @@
             </allocation>
         </rtps>
     </participant>
-    
+
     <publisher profile_name="alloc_qos_example_pub_for_topic_1">
         <!-- we know we will have three matching subscribers -->
         <matchedSubscribersAllocation>
@@ -1967,7 +1967,7 @@
             <increment>0</increment>
         </matchedSubscribersAllocation>
     </publisher>
-    
+
     <publisher profile_name="alloc_qos_example_pub_for_topic_2">
         <!-- we know we will have two matching subscribers -->
         <matchedSubscribersAllocation>
@@ -1976,7 +1976,7 @@
             <increment>0</increment>
         </matchedSubscribersAllocation>
     </publisher>
-    
+
     <subscriber profile_name="alloc_qos_example_sub">
         <!-- we know we will only have one matching publisher -->
         <matchedPublishersAllocation>
@@ -2159,7 +2159,7 @@
             </builtin>
         </rtps>
     </participant>
-    
+
     <participant profile_name="UDP SERVER 2">
         <rtps>
             <prefix>75.63.2D.73.76.72.63.6C.6E.74.2D.32</prefix>
@@ -2318,7 +2318,7 @@
             </builtin>
         </rtps>
     </participant>
-    
+
     <publisher profile_name="uc_publisher_xml_conf_static_discovery">
         <topic>
             <name>HelloWorldTopic</name>
@@ -2344,7 +2344,7 @@
             </builtin>
         </rtps>
     </participant>
-    
+
     <subscriber profile_name="uc_subscriber_xml_conf_static_discovery">
         <topic>
             <name>HelloWorldTopic</name>
@@ -2355,15 +2355,17 @@
     </subscriber>
 <!--><-->
 
-<!-->CONF_ROS2_DEFAULT_PROFILE<-->
-<participant profile_name="participant_profile_ros2" is_default_profile="true">
-    <rtps>
-        <name>profile_for_ros2_node</name>
-    </rtps>
-</participant>
-<!--><-->
-
 <!-->CONF_ROS2_EXAMPLE<-->
+<!--
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+-->
+    <participant profile_name="participant_profile_ros2" is_default_profile="true">
+        <rtps>
+            <name>profile_for_ros2_node</name>
+        </rtps>
+    </participant>
+
     <publisher profile_name="ros2_publisher_profile" is_default_profile="true">
         <qos>
             <publishMode>